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RelativeVelocitySensor.md

RelativeVelocitySensor ​

Ideal sensor to measure the relative angular velocity between two splines

This component extends from PartialRelativeSensor

Usage ​

RelativeVelocitySensor()

Connectors ​

  • spline_a - (Spline)

  • spline_b - (Spline)

  • w_rel - This connector represents a real signal as an output from a component (RealOutput)

Variables ​

NameDescriptionUnits
phi_relRelative angle between two splinesrad

Behavior ​

Source ​

dyad
# Ideal sensor to measure the relative angular velocity between two splines
component RelativeVelocitySensor
  extends PartialRelativeSensor
  # Relative angular velocity between two splines as output signal
  w_rel = RealOutput() [{
    "JuliaSim": {
      "placement": {"icon": {"x1": 450, "y1": 950, "x2": 550, "y2": 1050, "rot": 90}}
    }
  }]
  # Relative angle between two splines
  variable phi_rel::Angle
relations
  phi_rel = spline_b.phi-spline_a.phi
  w_rel = der(phi_rel)
  0 = spline_a.tau
metadata {
  "JuliaSim": {
    "icons": {"default": "jsml://RotationalComponents/RelSensor-Angle-Vel-Acc.svg"}
  }
}
end
Flattened Source
# Ideal sensor to measure the relative angular velocity between two splines
component RelativeVelocitySensor
  # Left spline of shaft
  spline_a = Spline() [{
    "JuliaSim": {"placement": {"icon": {"x1": -50, "y1": 450, "x2": 50, "y2": 550}}}
  }]
  # Right spline of shaft
  spline_b = Spline() [{
    "JuliaSim": {"placement": {"icon": {"x1": 950, "y1": 450, "x2": 1050, "y2": 550}}}
  }]
  # Relative angular velocity between two splines as output signal
  w_rel = RealOutput() [{
    "JuliaSim": {
      "placement": {"icon": {"x1": 450, "y1": 950, "x2": 550, "y2": 1050, "rot": 90}}
    }
  }]
  # Relative angle between two splines
  variable phi_rel::Angle
relations
  0 = spline_a.tau+spline_b.tau
  phi_rel = spline_b.phi-spline_a.phi
  w_rel = der(phi_rel)
  0 = spline_a.tau
metadata {
  "JuliaSim": {
    "icons": {"default": "jsml://RotationalComponents/RelSensor-Angle-Vel-Acc.svg"}
  }
}
end

Test Cases ​

  • Examples

  • Experiments

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